Domain randomization of an object shape

Autonomous Machines Isaac Omniverse Isaac Sim
#1

Hi.

I am trying to make the random shapes of an object using ‘Domain randomization’ in Omniverse IsaacSim.

In the paper I referenced, I confirmed that a deformed object file was created by modifying the vertices of the CAD file.(below image and referenced paper link)

deform_obj
deform_obj861×271 34.3 KB

Is there any function to implement that process in Isaac Sim?

If not, could you recommend any method to simplify this process?

Thank you.

#2

Good question, I’m running into this problem myself. As far as I can tell, there isn’t great tooling for deforming USD Prims in Pixars SDK / Isaac Sim.

Your best bet might be using the library of your choice to generate a large number of deformed mesh files and set your meshList.

Candidate libraries capable of applying your deformation include